Add new abstract classes, improve makefile and CI

[autrin]

• Added abstract base classes and dataclasses for key modules:

  • Controller and Command
  • IMU and ImuReading
  • SteeringServo
  • Pose
  • Detection
  • Planner, Trajectory, and Waypoint

• Expanded tests/test_interfaces.py to include instantiation tests for all new abstract interfaces

• Updated the Makefile:

  • Added format and check targets
  • Delegated linting and testing to Makefile for consistency between local and CI runs

• Improved CI workflow in .github/workflows/ci.yml:

  • Added concurrency control to cancel outdated runs
  • Included Python 3.13 in the test matrix
  • Ensured all matrix results are reported (fail-fast: false)
  • Delegated linting and testing to Makefile targets

• Pinned dev dependencies to upper bounds in pyproject.toml to prevent future breaking changes in CI